一种新型三自由度液压伺服关节的动力学模型

Dynamic modeling of a novel hydraulic servo with three degrees of freedom joint

建立了一种新型三自由度液压伺服关节的动力学空间模型 ,提出了一种自适应控制补偿方法 ,该方法能够消除死区造成的位置跟踪误差 .利用Matlab对该动力学模型进行了仿真试验研究 ,仿真试验结果表明 ,死区对位置跟踪误差有直接影响 ,该关节的动力学系统是稳定的 ,采用自适应控制补偿方法 ,可以使位置跟踪精度误差小于 0 1 %,且系统输出无超调 .同时 ,系统对负载变化不敏感 。

An adaptive control compensation method that enables position tracking error due to the dead zone to be eliminated is presented. By Matlab, the simulation testing results show the dynamic system of the novel hydraulic servo joint is steady. The position tracking error is influenced directly by the dead zone. Adopting the adaptive control compensation method enables the position tracking error of less than of 0 1% and implements the system output without overshooting. Simultaneously, the robustness of the system is very strong because the system output is not sensitive to loading change.